CN109849348B - Blanking arm swing arm control system of plate-shaped workpiece edge covering device - Google Patents
Blanking arm swing arm control system of plate-shaped workpiece edge covering device Download PDFInfo
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- CN109849348B CN109849348B CN201811301362.9A CN201811301362A CN109849348B CN 109849348 B CN109849348 B CN 109849348B CN 201811301362 A CN201811301362 A CN 201811301362A CN 109849348 B CN109849348 B CN 109849348B
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Abstract
A control system for the swing arm of blanking arm of edge covering device for plate-shaped workpiece is composed of a comparison unit
Operation control link C of discharging armβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβAnd (4) forming. Blanking arm given swing angle signal betaRFeedback signal beta of the swing angle of the blanking arm
Comparing to generate a blanking arm rotation angle deviation signal delta beta; warp CβCalculating and processing, converting delta beta into a blanking arm swing angle control signal betaC(ii) a Through DrβAmplification of betaCBecomes a feeding arm operation driving signal betaDrAt Gβ、AβOf a cascade of links Gβ‑Aβ，βDrTriggering a PWM three-phase inverter bridge to output a three-phase driving current-i to a lower charging arm rotary swing motorβA、iβBAnd iβCThe current drives MβConverted into a discharge arm swing angle output signal betaout(ii) a Warp of DTβDetection, feedback,. beta.outIntroduced as beta
Description
Technical Field
The invention relates to a method for carrying out side wrapping and pasting on a flat-plate-shaped workpiece.
Background
In many flat product production lines, a side wrapping and pasting process is performed on flat workpieces, especially in circuit board production enterprises. The production process comprises the following steps: the whole periphery of the flat workpiece is wrapped and pasted by a special adhesive tape. At present, the procedures are manually finished, and the result is poor consistency of the wrapping and pasting state and has the defects of partial pasting, folds, leakage gaps and the like of unequal parts. Manual operation is more difficult with the typically large, heavy pieces of board. This is a bottleneck that seriously affects the flow for the related product production line, and the whole production process of the elbow is automated. Therefore, it is urgently needed to develop an automatic method which can ensure the consistency of the package and paste states and replace manual operation with heavy force so as to realize automation of the whole production process.
Disclosure of Invention
In order to solve the problems of poor consistency of wrapping and pasting states, defects of deviation pasting, wrinkles, leakage gaps and the like, and difficulties of heavy manual wrapping and pasting operation and the like, the invention provides a feeding arm swing arm control system of a plate-shaped workpiece edge covering device, which is formed by a comparison link
Feeding arm operation control link CβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβAnd (4) forming. Blanking arm given swing angle signal betaRFeedback signal beta of the swing angle of the blanking arm
Comparing to generate a blanking arm rotation angle deviation signal delta beta; warp CβCalculating and processing, converting delta beta into a blanking arm swing angle control signal betaC(ii) a Through DrβAmplification of betaCBecomes a feeding arm operation driving signal betaDrAt Gβ、AβOf a cascade of links Gβ-Aβ，βDrTriggering a PWM three-phase inverter bridge to output a three-phase driving current-i to a lower charging arm rotary swing motorβA、iβBAnd iβCThe current drives MβConverted into a discharge arm swing angle output signal betaout(ii) a Warp of DTβDetection, feedback,. beta.outIntroduced as beta
。
The technical scheme adopted by the invention for solving the technical problems is as follows:
comparison link of discharging arm swing arm control system of plate-shaped workpiece edge covering device
Feeding arm operation control link CβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβAnd (4) forming.
Blanking arm given swing angle signal betaRComparing the feedback signal beta with the swinging angle feedback signal beta of the blanking arm in the storage of the feedback signal beta in the controller chip U
Comparing to generate a blanking arm rotation angle deviation signal delta beta; a discharging arm operation control link C stored in a controller chip UβCalculating and processing, converting the blanking arm rotation angle deviation signal delta beta into a blanking arm swing angle control signal betaC(ii) a Controlling a driving link Dr through a swinging angle of a discharging arm stored in a controller chip UβAmplifying and blanking arm swing angle control signal betaCBecomes a feeding arm operation driving signal betaDrIn the discharging arm inversion triggering module GβInversion execution module A of blanking armβOf a cascade of links Gβ-AβFeeding arm operation driving signal betaDrTriggering a PWM three-phase inverter bridge to output three-phase driving current to a feeding arm rotary swing motor, namely A-phase driving current i of the feeding arm rotary swing motorβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCFeeding arm rotary swing motor A phase driving current iβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCRotary swing motor M for driving discharging armβAnd converting to generate a discharge arm swing angle output signal betaout(ii) a Through unloading arm pivot angle signal processing module DTβDetecting and feeding back, and outputting a signal beta by a swinging angle of a blanking armoutIntroducing a comparison link by a feedback signal beta of the swing angle of a lower charging arm
。
Blanking arm given swing angle signal betaRIn the comparison link
Given by the following logic: if beta is beta00→βRAssignment of beta1(ii) a If beta is beta1→βRAssignment of beta00. Comparison link
The transfer function model is as follows: Δ β ═ βR-β。
Operation control link C of discharging armβThe transfer function model is as follows: control signal beta of swing angle of blanking armCPulse width tauβCCalculating the periodic duty ratio tau according to the control trigger pulse unitβC(k+1)＝△β(k)[1-(πnβeRβWβ/(9.8TCβPβ))k]Approximate calculation of where nβeFor unloading arm rotary swing motor MβCalculated number of revolutions of RβFor calculating the arm length, W, of the blanking armβCalculating constant, T, for the inertia of the armCβFor the feeding arm rotary swing motor M obtained by the experimentβStructural constant, PβFor unloading arm rotary swing motor MβK is the number of cycle times of the unit calculation.
Discharging arm swing angle control driving link DrβThe transfer function model is as follows: operation driving signal beta of blanking armDrA, B, C three-phase control trigger pulse beta is separated according to 120 degrees phase angle differenceDrA、βDrB、βDrCCalculating the periodic duty ratio tau per unit of the pulse width of the control trigger pulse per phaseβDr(k+1)＝KββC(k)/nβeApproximate calculation of where KβFor unloading arm rotary swing motor MβThe turning angle proportionality coefficient is obtained by experiment and calculation.
The invention has the beneficial effects that: an equipment complete system capable of efficiently supporting and realizing the wrapping and pasting of the side edge of a flat-plate-shaped workpiece. The side wrapping and attaching device enables the side wrapping and attaching of the flat workpiece to be set and adjusted in a wide specification range, can keep stable under multiple given values, and overcomes the defects of unreliable and uncontrollable manual operation and the like. Particularly for batch package and paste, the method can be quickly finished and far exceeds the manual working speed; and meanwhile, the labor and the labor are greatly saved. The system realizes the wrapping and pasting of the side edge of the flat workpiece in a compact and simple structure, and the control system is high in structuralization and systematization degree and easy to adjust; and a complete equipment system with high cost performance is easily formed. The whole body is easy to produce in batch; the system is simple and easy to maintain.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic top view of a method for hemming a plate-shaped workpiece according to an embodiment of the present invention.
FIG. 2 is a front view of the structure of the edge covering device for plate-shaped workpieces.
Fig. 3 is a sectional view of the blanking mechanism.
Fig. 4 is an enlarged-driving-executing-rotation angle detection circuit diagram of the blanking swing system.
Fig. 5 is a circuit diagram of the operation and control of the plate-shaped workpiece hemming system.
FIG. 6 is a circuit diagram showing the operation of the feeding arm with the enlarged feeding angle.
Fig. 7 is a block diagram of a blanking arm control system of the plate-shaped workpiece edge covering device.
In FIGS. 1 to 7: 1. the automatic feeding device comprises a base station, 2 parts of a discharging mechanism, 3 parts of packaged parts, 4 parts of a discharging vehicle, 5 parts of a feeding vehicle, 6 parts to be packaged, 7 parts of a feeding mechanism, 8 parts of a belt feeding mechanism and 9 parts of a workpiece. Alpha is alpha00For taking the material level, alpha, at the swing angle of the loading arm10Placing the material level for the swinging angle of the feeding arm; beta is a00For the swing angle of the feeding arm to discharge material, beta10And taking the material level for the swinging angle of the blanking arm.
In FIGS. 2 to 7: 1.1. the automatic cutting machine comprises a rotary base, a 1.2-counter, a 1.3-main motor, a 1.4-operating panel, a 2.1-blanking air pipe, a 2.2-blanking arm, a 2.3-blanking column, a 2.4-blanking telescopic rod, a 2.5-blanking sucker, a 8.1-guide belt wheel, a 8.2-carrying shaft, a 8.3-adhesive tape roll, a 8.4-carrying disk, a 8.5-end seat disk, a 8.6-rocker cable, a 8.7-rocker motor, a 8.8-rocker, a 8.9-elastic arm, a 8.10-connecting arm, a 8.11-cutting head driving coil, a 8.12-connecting rod, a 8.13-electric heating cable, a 8.14-cutting head and a 8.15-cutting knife.
In FIGS. 3 to 7: 2.2.2. the upper part of a blanking arm bearing, 2.2.5. the inner edge of a rotor magnetic yoke, 2.2.6. the blanking bearing, 2.2.9. a telescopic motor stator winding, 2.2.10. a telescopic cable, 2.2.11. a pipeline; 2.3.10. stator yoke disc ring, 2.3.11 swing arm cable, 2.4.3 telescopic link smooth wall, 2.4.7 blanking signal cable.
In FIGS. 4 to 7: LC (liquid Crystal)BPFor B-phase positive drive optocoupler, LCCPFor C-phase positive drive optocoupler, LCAPThe phase A positive drive optical coupler is adopted; rBNFor B-phase negative drive pull-up resistor, RCNFor C-phase negative drive pull-up resistor, RANA pull-up resistor is driven by the A phase negative voltage; LC (liquid Crystal)BNIs a B-phase negative drive optical coupler, LCCNFor C-phase negative drive optocoupler, LCANThe phase A negative drive optical coupler is adopted; gβIs a blanking arm inversion triggering module. QAPFor A-phase switching positive MOSFET, QBPIs a B-phase switch anode MOSFET, QCPA C-phase switch anode MOSFET; qANIs an A-phase switch cathode MOSFET, QBNIs a B-phase switch cathode MOSFET, QCNIs a C-phase switch cathode MOSFET; a. theβIs a feeding arm inversion execution module. WAIs a phase A winding, WBIs a B-phase winding, WCIs a C-phase winding; mβA rotary swing motor of the blanking arm. E is the positive terminal of the system control circuit power supply, PβFeeding back a signal terminal for a swing angle of a blanking arm; DTβIs a blanking arm swing angle signal processing module.
In FIGS. 6 to 7: rMnCPull-down resistor, LC, for the main motor corner control signalMOptical coupling for the start-run control signal of the main motor, JSF1-3 is a third normally open contact of the feeding rod low-voltage relay, RMbTrigger signal bias current resistance for main motor start-run, DM1First trigger diode for main motor start-run signal, RMgOperating a switching gate bias resistor, Q, for a main motorMFor the main motor to runOff MOSFET, RMcOperating the switch coupling resistor for the main motor, DM2Second trigger diode for main motor start-run signal, TMTriggering a triode for the operation of a main motorMDriving a follow-current stabilivolt for the operation of the main motor, LMDriving the filter inductor for operation of the main motor, CMDriving a filter capacitor for operation of the main motor; a. theMAn amplifying link of a main motor control system is provided; eMFor operating the drive signal for the main motor, MMIs the main motor.
In fig. 7: beta is aRSetting a swing angle signal for the blanking arm, wherein delta beta is a rotation angle deviation signal of the blanking arm, CβFor the link of operation control of the feeding arm, betaCFor a control signal of the swing angle of the feed arm, DrβFor controlling the drive link for the swing angle of the feeding arm, betaDrFor the operation of the feed arm with a drive signal iβAFor the A-phase drive current, i, of the rotary swing motor of the feeding armβBFor the B-phase drive current, i, of the rotary swing motor of the feeding armβCFor C-phase drive current, beta, of a rotary swing motor of a discharging armoutAnd outputting a signal for the swing angle of the blanking arm, and feeding back a signal for the swing angle of the blanking arm.
Detailed Description
In one embodiment of the invention shown in fig. 1, a schematic top view of a method for hemming a plate-shaped workpiece: the overall configuration of the plate-shaped workpiece edge covering method comprises a base station 1, a blanking mechanism 2, a wrapping piece, a blanking vehicle 4, a feeding vehicle 5, a to-be-wrapped piece 6, a feeding mechanism 7, a belt feeding mechanism 8 and a wrapped piece 9. The base station 1 is used as a main body workbench, a machine box body and a working and bearing surface of the overall system device and is located on the right side of the middle of a working field. The blanking mechanism 2 is used as a wrapping piece grasping, transferring and lowering mechanism of the system device to work and is assembled at the left end of the upper surface of the base station 1. The wrapped workpiece 3 is taken as a work object of the system device, namely a wrapped finished workpiece, and is gripped, transferred and placed by the blanking mechanism 2 and sequentially placed in the blanking trolley 4. The blanking cart 4 is used as a transfer device for carrying and transporting the packaged piece 3, is suspended at the left side of the base platform 1 and is positioned at a position to be loaded and positioned. The feeding trolley 5 is used as a transfer device for carrying and transporting the to-be-packaged piece 6, is suspended at the outer side of the base platform 1 and is positioned at a to-be-unloaded positioning position. The workpiece to be wrapped 6 serving as an object of the system device to work, namely a workpiece to be wrapped, is sequentially grabbed, transferred and placed by the feeding mechanism 7, and is pressed on the working position in the middle of the upper surface of the base station 1. The feeding mechanism 7 is used as a holding, transferring, lowering and pressing mechanism of the to-be-packaged piece of the system device, and is assembled at the right outer end of the upper surface of the base station 1. The tape feeding mechanism 8 is used as a feeding mechanism of the edge covering adhesive tape and is assembled on the right side of the feeding mechanism 7 on the base platform 1. The wrapped workpiece 9 as a workpiece to be wrapped is gripped, transferred, and lowered by the feeding mechanism 7, and pressed to the working position in the middle of the upper surface of the base 1.
In one embodiment of the invention shown in fig. 1, a schematic top view of a method for hemming a plate-shaped workpiece and a front view of the structure of a device for hemming a plate-shaped workpiece shown in fig. 2:
the base station 1 is a main body workbench, a machine box body and a working and bearing surface of the system overall device. The rotary base 1.1 is used as a machine member for bearing and driving the wrapped piece 9 to rotate, and is tightly connected with the main shaft, namely the output shaft of the main motor 1.3 in a matching mode through a matching shaft hole. The counter 1.2 is used as a device for sensing, detecting and transmitting the rotation angle of the rotary seat 1.1, is rooted and installed on the right side of a main motor 1.3 on the base station 1, and is arranged below the rotary seat 1.1, and the distance of 3mm is reserved between the upper end of the rotary seat and the lower end of the rotary seat 1.1. The main motor 1.3 is used as a main power and system execution device of the system device, is embedded in the middle of the base station 1 and deviates to the left, and the output shaft of the main motor is matched and connected with the rotary base 1.1. The operating panel 1.4 is used as the operating surface of the man-machine interaction keyboard for system operation, and is embedded and assembled in the groove chamber which is arranged on the right side of the inner side of the base station 1 in a pulling structure.
The blanking air pipe 2.1 is used as an exhaust line for obtaining negative pressure for the blanking sucker 2.5, is led from the blanking sucker 2.5, passes through the blanking telescopic rod 2.4, then passes through the blanking arm 2.2, the blanking column 2.3 and the base station 1, and is led to an exhaust system. The blanking arm 2.2 is used as a transfer motion cantilever beam mechanism of the blanking mechanism 2, the head end is used as the top of a blanking column 2.3 assembled at the rotating shaft end, and the tail end is used as the working end and is assembled with a blanking telescopic rod 2.4. The blanking column 2.3 is used as a main supporting structure of the blanking mechanism 2, the upper end is provided with a blanking arm 2.2, and the lower end is arranged in the middle of the left end of the base station 1. The feeding telescopic rod 2.4 is used as a lifting and lowering mechanism of the feeding mechanism 2 and is assembled at the working end of the feeding arm 2.2, and the feeding sucker 2.5 is assembled at the lower end of the feeding telescopic rod. The blanking sucker 2.5 is a flexible material umbrella-shaped mechanism as a terminal part for gripping, transferring and lowering the blanking mechanism 2, and the top end of the flexible material umbrella-shaped mechanism is assembled at the lower end of the blanking telescopic rod 2.4.
The feeding air pipe 7.1 is used as an exhaust pipeline for obtaining negative pressure for the feeding sucker 7.5, is led from the feeding sucker 7.5, passes through the feeding telescopic rod 7.4, then passes through the feeding arm 7.2, the feeding column 7.3 and the base station 1, and is led to an exhaust system. The feeding arm 7.2 is used as a transfer motion cantilever beam mechanism of the feeding mechanism 7 and is made of iron materials, the head end of the feeding arm is used as the top of a feeding column 7.3 assembled at the rotating shaft end, and the tail end of the feeding arm is used as the working end and is assembled with a feeding telescopic rod 7.4. The feeding column 7.3 is used as a main supporting mechanism of the feeding mechanism 7, the upper end is provided with a feeding arm 7.2, and the upper end is arranged outside the right end of the base station 1. The feeding telescopic rod 7.4 is used as a lifting, lowering and pressing mechanism of the feeding mechanism 7 and is assembled at the working end of the feeding arm 7.2, and the feeding sucker 7.5 is assembled at the lower end of the feeding telescopic rod. The feeding sucker 7.5 is a flexible material umbrella-shaped mechanism as a terminal part for grasping, transferring and downward pressing of the feeding mechanism 7, and the top end of the flexible material umbrella-shaped mechanism is assembled at the lower end of the feeding telescopic rod 7.4.
The guide belt wheel 8.1 is used as a reversing mechanism for guiding the edge-covering adhesive tape, is a wheel disc piece with a wheel edge groove and is assembled at the left inner end of the end seat disc 8.5. The belt supporting shaft 8.2 is used as a positioning shaft of the belt feeding mechanism, is a middle shaft protruding part of the belt supporting disc 8.4, is used for positioning and matching the adhesive tape roll 8.3, and is in running fit with a matching hole of the adhesive tape roll 8.3. The adhesive tape roll 8.3 is a commodity part of adhesive tape materials used for edge covering, is of a disc structure with a middle shaft sleeve matching hole, matches a tape supporting shaft 8.2 through the matching hole, and is flatly placed on the tape supporting disc 8.4. The belt supporting disc 8.4 is used as a component for positioning and supporting the belt coil 8.3 and is a disc provided with a belt supporting shaft 8.2, and a shaft sleeve hole with a non-tight upper end is sleeved on the central shaft position of the disc body and the belt supporting shaft 8.2; through the axle sleeve hole, the belt supporting disc 8.4 and the end seat disc 8.5 form a running fit. The end seat disc 8.5 is used as a terminal base disc of the tape feeding mechanism 8, the middle position of the outer side outwards extends out of a spring arm 8.9, the right inner corner of the upper side is provided with a carrier disc 8.4, the left inner corner of the upper side is provided with a guide belt wheel 8.1, and the middle part of the lower side is provided with a head cutting drive coil 8.11 at a left outer position. The rocker cable 8.6 is used as a cable bundle of an electric heating cable 8.13 and a pressure signal wire of the elastic arm 8.9, is led out from the inner side position between the feeding column 7.3 of the base station 1 and the rocker motor 8.7 and is led into a cable pore channel of the rocker 8.8. The rocker motor 8.7 is used as a driving device and a system execution terminal of the belt feeding mechanism 8 and is arranged at the right outer end of the base station 1, namely the right side of the feeding column 7.3. The rocker arm 8.8 is used as a driving main arm of the tape feeding mechanism 8, the head end of the rocker arm is fixedly assembled at the output shaft end of the rocker arm motor 8.7, and the tail end of the rocker arm is assembled with an elastic arm 8.9 and a connecting arm 8.10. The elastic arm 8.9 is used as an elastic driving secondary arm of the belt feeding mechanism 8, the head end of the elastic arm is assembled at the tail end of the rocker arm 8.8, and the tail end of the elastic arm is connected with the end seat disc 8.5 into a whole. The connecting arm 8.10 is used as a component force of the feeding mechanism 8 to drive the secondary arm, the head end of the connecting arm is assembled at the tail end of the rocker arm 8.8, and the tail end of the connecting arm is in hinge fit with the tail end of the connecting rod 8.12. The head cutting driving coil 8.11 is used as an electromagnetic driving device of the belt cutting mechanism and a system execution terminal and is arranged at the left outer position of the middle part below the end seat disk 8.5. The connecting rod 8.12 is used as a component force steering rocker arm of the belt feeding mechanism 8, and the head end hinge is assembled below the left inner side of the end seat disc 8.5, above the inner edge of the base station 1 and on the right side of the groove chamber of the operating disc 1.4. An electric heating cable 8.13 is taken as an electric heating driving cable of the cutter 8.15, is led out from the tail opening of a cable duct of the rocker arm 8.8, is attached with the elastic arm 8.9 and the end seat disc 8.5 at the lower part, and is led into the cutter 8.14 along the outer side of the cutter driving coil 8.11. The cutting head 8.14 is used as an action swing arm of the cutter 8.15, the cutter 8.15 is arranged on the tail end, and the electric heating cable 8.13 is led in the lower part and supports the electric connection between the electric heating cable 8.13 and the cutter 8.15. The cutter 8.15 is used as a working structure for cutting the adhesive tape and is formed by wrapping the heating wire around the supporting main body, and two ends of the heating wire penetrate through the cutting head 8.14 and are respectively connected with two ends of the heating cable 8.13; the supporting body of the cutting knife 8.15 is made of heat-resistant insulating material, fitted with its root to the tail end of the cutting head 8.14.
In the cross-sectional view of the blanking mechanism shown in fig. 3:
the blanking air pipe 2.1 is led to an air extraction system, passes through a blanking column pipeline hole 2.3.1 and a blanking column pipeline cavity 2.3.9 in the blanking column 2.3, passes through a blanking arm pipeline cavity 2.2.1 and a pipeline 2.2.11 in the blanking arm 2.2, passes through a blanking pipe chase 2.7, passes through the tail section of the blanking arm 2.2, passes through a blanking rod pipeline hole 2.6, and is finally led into a blanking sucker 2.5 through a blanking rod air pipe straight section 2.1.1. The head end of the blanking arm 2.2 is provided with a swing arm driving motor rotor and a blanking bearing 2.2.6 outer ring, and a blanking arm pipeline cavity 2.2.1 is bored; the first section is provided with a pipeline 2.2.11; a blanking pipeline groove 2.7 is milled in the middle section; the tail end is provided with a blanking telescopic rod 2.4 and a telescopic motor stator winding 2.2.9. The upper end of the blanking column 2.3 is provided with a swing arm driving motor stator and a blanking bearing 2.2.6, and a blanking column pipeline cavity 2.3.9 is bored; the whole section is bored with a blanking column pipeline orifice 2.3.1. The blanking sucker 2.5 is a flexible material umbrella-shaped mechanism, and the top end of the flexible material umbrella-shaped mechanism is connected with the blanking telescopic rod 2.4 in a matching way through a blanking connector 2.5.1. The pipeline pore canal 2.6 of the blanking rod is sleeved on the middle shaft position of the blanking telescopic rod 2.4, the upper end of the pipeline pore canal is fixedly connected with a blanking air pipe frame hoop 2.4.4 for fastening the upper end of the straight section 2.1.1 of the air pipe of the blanking rod and a blanking signal cable 2.4.7 accompanied by the straight section, and the lower end of the pipeline pore canal is provided with an inward-contracting edge hoop for fastening the lower end of the straight section 2.1.1 of the air pipe of the blanking rod and a blanking signal cable 2.4.7 accompanied by the straight section. The blanking pipe chase 2.7 is dug in the middle section of the top of the blanking arm 2.2, the head end is communicated with the pipe 2.2.11 in the blanking arm 2.2, the tail end is in curved surface transition with the top surface of the blanking arm 2.2 and is provided with a telescopic cable 2.2.10 which penetrates from the bottom of the transition surface to the telescopic motor stator winding 2.2.9 at the tail end of the blanking arm 2.2.
The straight section 2.1.1 of the blanking rod air pipe is deeply assembled in the center of a blanking rod pipeline hole channel 2.6 in a blanking telescopic rod 2.4, the upper end of the blanking rod air pipe is fixedly connected with the upper end of the blanking rod pipeline hole channel 2.6 through a blanking air pipe frame hoop 2.4.4, the lower end of the blanking rod air pipe is fastened in an inner contraction edge hoop at the lower end of the blanking rod pipeline hole channel 2.6, and a blanking signal cable 2.4.7 is applied along one path. The magneto resistor 2.2.0 is embedded in the lower wall of the tail end of the blanking arm 2.2, and the sliding wall of the telescopic rod is arranged at one side outside the opening 2.4.3; the lead of the magnetic resistance 2.2.0 is led to and is coated with a stator winding 2.2.9 of the telescopic motor and then is merged into a telescopic cable 2.2.10. The blanking arm pipeline cavity 2.2.1 is bored at the head end of the blanking arm 2.2, is an inner core cavity of a swing arm driving motor rotor, is of a horn mouth-shaped structure, and is provided with a large opening upwards and smoothly communicated with a pipeline 2.2.11 of the blanking arm 2.2. The N pole pieces of the feeding swing arm motor rotor and the S pole pieces 2.2.4 of the feeding swing arm motor rotor are fixedly attached to the ring position of the yoke slot of the swing arm drive motor rotor at the head end of the feeding arm 2.2 one by one at intervals, and the magnetic pole faces downwards. The S pole pieces 2.2.4 of the feeding swing arm motor rotor and the N pole pieces 2.2.3 of the feeding swing arm motor rotor are fixedly attached to the magnetic disk ring position of the swing arm drive motor rotor at the head end of the feeding arm 2.2 one by one, and the magnetic pole faces downwards. The movable part 2.2.7 of the rotation angle sensor of the feeding swing arm motor is a grating coding structure device and is pasted along the first semicircular ring of the outer ring of the torus below the outer seat 2.2.8 of the feeding arm bearing, and the semicircular ring is in a semicircular arc shape. The outer bearing seat 2.2.8 of the blanking arm is a structure which is protruded downwards along the inner ring line of the 2.2.5 ring surface of the inner edge of the rotor magnetic yoke, and the outer ring of the blanking bearing 2.2.6 is buckled and sealed by the inner buckle of the lower edge, the outer edge of the upper part 2.2.2 of the blanking arm bearing and the side wall between the lower edge and the outer edge.
The telescopic motor stator winding 2.2.9 is a high-strength electromagnetic wire coil wound in a high-strength polyester material ring groove box as a driving device of the magnetic force of the telescopic motor stator, the whole structure is a solenoid disc column structure, and two ends of the coil are led out and merged into a telescopic cable 2.2.10. The telescopic cable 2.2.10 is used as a driving cable of a telescopic motor stator winding 2.2.9, is separated from a swing arm cable 2.3.11 at the upper section of a blanking column pipeline duct 2.3.1, is accompanied by a blanking air pipe 2.1 along the way together with a blanking signal cable 2.4.7, passes through a blanking column pipeline cavity 2.3.9, a blanking arm pipeline cavity 2.2.1 and a pipeline 2.2.11, is separated from the blanking air pipe 2.1 and a blanking signal cable 2.4.7 from the tail port of a pipeline 2.2.11, is laid along a blanking pipeline groove 2.7, is introduced into a blanking arm 2.2 tail section cable duct at the bottom of a transition curved surface at the tail end of the blanking pipeline groove 2.7, and penetrates to a terminal of a telescopic motor stator winding 2.2.9 at the tail end of the blanking arm 2.2. The pipeline 2.2.11 is used as a passage for the blanking air pipe 2.1, the extension cable 2.2.10 and the blanking signal cable 2.4.7 to pass through the blanking arm 2.2 and is arranged at the first section of the blanking arm 2.2; the head end of the blanking arm is communicated with the tail end of the blanking arm pipeline cavity 2.2.1, and the tail end opening is communicated with the head end of the blanking pipeline groove 2.7.
The blanking column pipeline orifice 2.3.1 is bored at the middle axis of the blanking column 2.3 and is coaxial with the blanking column 2.3, and the upper port of the blanking column pipeline orifice is communicated with the bottom port of the blanking column pipeline cavity 2.3.9 and is in smooth transition. The stator pole shoe 2.3.3 of the blanking swing arm motor is a cylinder with a rectangular section; each column body is integrated with the disk ring at the root part thereof to form a motor stator magnetic yoke; the whole body is formed by stacking high-magnetic-density silicon steel sheets which are formed by shearing and concentric disk rings. The stator winding 2.3.4 of the blanking swing arm motor is sequentially wound on 18 stator pole shoes 2.3.3 of the blanking swing arm motor according to three-phase hexapoles and is connected according to three-phase hexapole directions. The blanking bearing roller 2.3.6 is a circular truncated cone cylinder structure, and is assembled into a blanking bearing 2.2.6 with a large bottom surface. The blanking swing arm motor corner sensor static part 2.3.7 is an infrared LED receiving and transmitting combined device, corresponds to the blanking swing arm motor corner sensor dynamic part 2.2.7 and is arranged at the outer end of the outer ring at the bottom of the blanking column bearing groove ring 2.3.8. The blanking column bearing groove ring 2.3.8 is a stepped groove ring structure; the deep ladder groove ring is bored on the outer groove ring and is used for forming loose fit with the outer bearing seat 2.2.8 of the blanking arm; the shallow ladder groove ring is bored on the inner groove ring and is used for tightly assembling the inner ring of the blanking bearing 2.2.6. The blanking column pipeline cavity 2.3.9 is bored at the axial upper end of the blanking column 2.3, is coaxial with the blanking column 2.3, is an inner core cavity of a swing arm drive motor rotor, is in a horn mouth structure, has a big mouth upward, is aligned and communicated with the lower mouth of the blanking arm pipeline cavity 2.2.1 of the blanking arm 2.2, and has a small mouth downward and is smoothly connected with the upper end of the blanking column pipeline cavity 2.3.1.
The stator magnet yoke disc ring 2.3.10 is used as a base structure of a blanking swing arm motor stator magnet yoke, is a rectangular diameter section disc ring body, and is integrated with each cylinder of a blanking swing arm motor stator pole shoe 2.3.3 to form a motor stator magnet yoke; the whole body is formed by stacking high-magnetic-density silicon steel sheets which are formed by shearing and concentric disk rings. The swing arm cable 2.3.11 is used as a drive line of the swing arm drive motor and a cable bundle of a blanking swing arm motor corner signal transmission line, is separated from the telescopic cable 2.2.10 and the blanking signal cable at the upper end of the blanking column pipeline duct 2.3.1 and is led to a stator terminal of the swing arm drive motor in a penetrating way.
In the circuit diagram of amplifying-driving-executing-rotation angle detection of the blanking swing system shown in fig. 4:
b-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A positive drive optical coupler LCAPB-phase negative drive pull-up resistor RBNC-phase negative drive pull-up resistor RCNA-phase negative drive pull-up resistor RANB-phase negative drive optical coupler LCBNC-phase negative drive optical coupler LCCNAnd A-phase negative drive optical coupler LCANForm a blanking arm inversion trigger module Gβ. B-phase positive drive optocoupler LCBPOutput end positive electrode and C-phase positive drive optocoupler LCCPThe positive pole of the output end and the A-phase positive drive optical coupler LCAPThe positive electrode of the output end is connected to the positive electrode end E of the system working power supplyPB-phase positive drive optocoupler LCBPOutput end negative electrode and C-phase positive drive optocoupler LCCPOutput end negative electrode and A-phase positive drive optocoupler LCAPThe negative electrodes of the output ends are respectively connected to the positive electrodes of the MOSFET Q of the B-phase switchBPGate of the MOSFET Q of the C-phase switchCPGate of and a-phase switch positive MOSFET QAPA gate electrode of (1); b-phase negative drive pull-up resistor RBNOne end of the C-phase negative drive pull-up resistor RCNOne end of and A phase negative drive pull-up resistor RANOne end of the system working power supply positive terminal EPB-phase negative drive pull-up resistor RBNThe other end of the resistor R is connected with a C-phase negative drive pull-up resistor RCNThe other end of the A phase negative drive pull-up resistor RANThe other ends of the two optical couplers are respectively connected to a B-phase negative driving optical coupler LCBNOutput end positive pole, C phase negative drive optical coupler LCCNOutput end positive pole and A phase negative drive optical coupler LCANOutput end positive pole, B phase negative drive optical coupler LCBNOutput end negative pole, C phase negative drive optical coupler LCCNOutput end cathode and A-phase negative drive optical coupler LCANThe negative poles of the output ends of the two phase-B switch are respectively connected with the negative pole MOSFET Q of the phase-B switchBNGrid, C-phase switch cathode MOSFET QCNGate of and a-phase switch cathode MOSFET QANA gate electrode of (1).
A-phase switch anode MOSFET QAPB-phase switch anode MOSFET QBPPositive MOSFET Q of C-phase switchCPA-phase switch cathode MOSFET QANB-phase switch cathode MOSFET QBNC-phase switch cathode MOSFET QCNForm a blanking arm inversion execution module Aβ. A-phase switch anode MOSFET QAPDrain electrode of (1), C-phase switch anode MOSFET QCPDrain of and B-phase switch anode MOSFET QBPAll the drain electrodes are connected to the positive terminal E of the system working power supplyPPositive pole MOSFET Q of phase A switchAPSource electrode, positive electrode MOSFET Q of C-phase switchCPSource and B-phase switch positive MOSFET QBPAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBThe head end of (2); a-phase switch cathode MOSFET QANDrain electrode of the MOSFET Q, and C-phase switch cathodeCNDrain of and B-phase switch cathode MOSFET QBNAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBHead end of, A phase switch cathode MOSFET QANSource electrode, C phase switch cathode MOSFET QCNSource and B-phase switch cathode MOSFET QBNAre all connected to the negative terminal E of the system working power supplyN。
A phase winding WAPhase B winding WBAnd a C-phase winding WCFor unloading arm rotary swing motor MβThe three-phase winding of the stator, namely the stator winding of the blanking swing arm motor 2.3.4. A phase winding WATail end, C phase winding W ofCTail end of and a B-phase winding WBIs connected with a point. The blanking swing arm motor corner sensor static part 2.3.7 is arranged corresponding to the blanking swing arm motor corner sensor dynamic part 7.2.7 to obtain a corner pulse signal.
Two-stage forward-connected phase inverter forming blanking arm swing angle signal processing module DTβ. The output end of the last-stage phase inverter is used as a feeding arm swing angle feedback signal wiring end PβThe input end of the most front-stage inverter is connected to the signal output end of the static part 2.3.7 of the blanking swing arm motor corner sensor; the positive power supply end and the grounding end of the static part 2.3.7 of the blanking swing arm motor corner sensor are respectively connected to the positive end E and the ground of a system control circuit power supply; and the positive electrode power source end of the phase inverter chip is connected to the positive electrode end E of the system control circuit power source, and the negative electrode power source end of the phase inverter chip is grounded.
In a front view of a structure of the plate-shaped workpiece hemming device shown in fig. 2, a sectional view of a blanking mechanism shown in fig. 3, an amplifying-driving-executing-rotation angle detection circuit diagram of a blanking swing system shown in fig. 3 to 4, and an operation and control circuit diagram of the plate-shaped workpiece hemming system shown in fig. 5:
control circuit work indication LED DPThe positive pole of the resistor is controlled by a control circuit to work and indicate the resistance RPIs connected to the positive terminal E of the system control circuit power supply and the control circuit work indication LED DPIs connected to the PD0 pin of the controller chip U. Elastic arm close to signal terminal PBPConnected to the controller corePD1 pin of chip U. Feeding arm inversion trigger module GβInversion triggering module G corresponding to feeding arm in right frameαA-phase anode trigger signal pull-down resistor R in left frameAP0One end of the resistor R, a B-phase anode trigger signal pull-down resistor RBP0One end of the resistor R, a C-phase anode trigger signal pull-down resistor RCP0One end of the A-phase negative trigger signal pull-down resistor RAN0One end of the resistor R, a B-phase negative trigger signal pull-down resistor RBN0One end of the resistor and a C-phase negative trigger signal pull-down resistor RCN0Are connected to the PD2, PD3, PD4, PD5, PD6, and PD7 pins, respectively, of the controller chip U. Control system start key KMOne end of which is connected with a start signal buffer resistor RKMThe PA0 pin is connected to the controller chip U, and the other end of the PA0 pin is grounded; starting signal buffer capacitor CKMConnected across the PA0 pin of the controller chip U and ground. Main motor corner feedback signal terminal PnCoupling resistor R through corner feedback signalMPA1 pin connected to controller chip U; feeding arm swing angle feedback signal terminal PαSignal coupling resistor R is fed back through swinging angle of feeding armPFPA2 pin connected to controller chip U; feeding arm swing angle feedback signal terminal PβSignal coupling resistor R is fed back through swinging angle of discharging armPBTo the PA3 pin of controller chip U. Feeding rod upper shrinkage in-place signal optical coupler LCTFThe anode of the output end of the feeding rod is connected to a PA4 pin of a controller chip U, and the feeding rod is contracted to a position signal optical coupler LCTFThe negative electrode of the output end of the transformer is grounded; upper shrinkage in-place signal optical coupler LC of blanking rodTBThe anode of the output end of the feeding rod is connected to a PA5 pin of a controller chip U, and the feeding rod is contracted to a position to signal optical coupler LCTBThe negative electrode of the output end of the transformer is grounded. Feeding rod touch signal terminal PSFPA6 pin connected to controller chip U; blanking rod touch signal terminal PSBTo the PA7 pin of controller chip U. First self-excited capacitor Cp1Connected across the XTAL1 pin of the controller chip U and ground; second self-excited capacitor Cp2Connected across the XTAL2 pin of the controller chip U and ground; crystal oscillator CfConnected across the XTAL1 pin and the XTAL2 pin of the controller chip U. V of controller chip UCCThe pin is connected to the positive power supply terminal E of the system control circuit. Signal wiring terminal P of material taking and placing position of material loading arm swing angleαNPC7 pin connected to controller chip U; signal wiring terminal P of material taking and placing position of swinging angle of blanking armβNTo the PA6 pin of controller chip U. A-phase anode trigger signal pull-down resistor RAP0One end of the resistor R, a B-phase anode trigger signal pull-down resistor RBP0One end of the pull-down resistor, one end of the pull-down resistor for the positive trigger signal of the phase C, one end of the pull-down resistor for the negative trigger signal of the phase A, one end of the pull-down resistor for the negative trigger signal of the phase B and one end of the pull-down resistor for the negative trigger signal of the phase C are respectively connected to pins PC5, PC4, PC3, PC2, PC1 and PC0 of the controller chip U, and the pull-down resistor R for the positive trigger signal of the phase A is connected to a pin of the controller chip UAP0The other end of the resistor R is pulled down by a B-phase positive trigger signalBP0The other end of the pull-down resistor, the other end of the pull-down resistor for the C-phase positive trigger signal, the other end of the pull-down resistor for the A-phase negative trigger signal, the other end of the pull-down resistor for the B-phase negative trigger signal and the other end of the pull-down resistor for the C-phase negative trigger signal are respectively connected to an LC (inductance-capacitance) of the A-phase positive drive optocouplerAPB-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A negative drive optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe input end anode of (1); a-phase positive drive optocoupler LCAPB-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A negative drive optical coupler LCANB-phase negative drive optical coupler LCBNAnd C-phase negative drive optical coupler LCCNThe negative poles of the input ends of the two are all grounded. The main motor turns to 3-bit signal terminal Pn3To, the main motor turns to 2-bit signal terminal Pn2The main motor is turned to 1 bit signal terminal Pn1And a main motor corner control signal terminal PnCConnected to the PB7, PB6, PB5, and PB4 pins, respectively, of the controller chip U. Control signal optical coupler LC of belt feeding mechanismPWInput end anode, feeding rod up-shrinkage control signal optical coupler LCPTBInput end anode, feeding rod downward extension control signal optical coupler LCNTFInput end anode and feeding rod up-shrinking control signal optical coupler LCPTFThe positive pole of the input end controls the signal through the belt feeding mechanism respectivelyPulling resistance RPWA pull-down resistor R for controlling the signal by the upward shrinkage of the blanking rodRPBThe feeding rod stretches downwards to control the pull-down resistor R of the signalNTFAnd a pull-down resistor R of the control signal of the feeding rodPTFPB3, PB2, PB1, and PB0 pins connected to the controller chip U. Reset signal pull-up resistor RR1Bridged between the positive power supply terminal E of the system control circuit and the controller chip U
Among the pins; reset signal buffer resistor RR2Reset key K of controllerRIn series, the series branch is connected with a reset signal buffer capacitor CRAre connected in parallel; the parallel branch is bridged to the controller chip U
Between the pin and ground. The GND pin of the controller chip U is grounded.
Corresponding to and the feeding arm inversion triggering module GαThe pins of the PC5, the PC4, the PC3, the PC2, the PC1 and the PC0 which are connected with the feeding arm inversion triggering module GβOne end of the corresponding negative trigger signal pull-down resistor in the controller chip U is respectively connected with pins PD2, PD3, PD4, PD5, PD6 and PD 7.
In the operation and control circuit diagram of the plate-shaped workpiece edge covering system shown in fig. 5 and the material taking angle position amplifying and operation circuit diagram of the blanking arm shown in fig. 6: discharging arm swing angle discharging level relay fly-wheel diode DβThe negative pole of the discharging arm is connected to the positive end E of a system control circuit power supply, and the discharging arm swings the angle and discharges the material level relay fly-wheel diode DβThe anode of the optical coupler LC is connected to a swing angle discharging position signal optical coupler LC of a discharging armβThe output end of (1) is positive; electromagnetic coil J of blanking level relay with blanking arm swing angleβA swing angle discharging position signal optical coupler LC bridged between the positive end E of the system control circuit power supply and the discharging armβBetween the output end positive poles; discharging arm swing angle discharging position signal optical coupler LCβThe negative electrode of the output end of the transformer is grounded. Discharging arm swing angle discharging position signal optical coupler LCβThe positive electrode of the input end of the resistor R is pulled down by a material discharging position signal of a discharging arm through a swinging angleβIs connected toMaterial discharging arm swing angle material discharging position signal terminal PβNAnd the swing angle of the blanking arm puts the material level signal optical coupler LCβThe negative pole of the input terminal of the transformer is grounded.
In the front view of the structure of the plate-shaped workpiece hemming device shown in fig. 2, the circuit diagram for amplifying, driving, executing and rotating angle detecting of the blanking swing system shown in fig. 4, the circuit diagram for operating and controlling the plate-shaped workpiece hemming system shown in fig. 5 and the block diagram of the blanking arm control system of the plate-shaped workpiece hemming device shown in fig. 7:
comparison link of discharging arm control system of plate-shaped workpiece edge covering device
Feeding arm operation control link CβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβAnd (4) forming.
Blanking arm given swing angle signal betaRComparing the feedback signal beta with the swinging angle feedback signal beta of the blanking arm in the storage of the feedback signal beta in the controller chip U
Comparing to generate a blanking arm rotation angle deviation signal delta beta; a discharging arm operation control link C stored in a controller chip UβCalculating and processing, converting the blanking arm rotation angle deviation signal delta beta into a blanking arm swing angle control signal betaC(ii) a Controlling a driving link Dr through a swinging angle of a discharging arm stored in a controller chip UβAmplifying and blanking arm swing angle control signal betaCBecomes a feeding arm operation driving signal betaDrIn the discharging arm inversion triggering module GβInversion execution module A of blanking armβOf a cascade of links Gβ-AβFeeding arm operation driving signal betaDrTriggering a PWM three-phase inverter bridge to output three-phase driving current to a feeding arm rotary swing motor, namely A-phase driving current i of the feeding arm rotary swing motorβAB-phase driving current i of rotary swing motor of blanking armβBDriven by a rotary swing motor C phase of a discharging armCurrent iβCFeeding arm rotary swing motor A phase driving current iβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCRotary swing motor M for driving discharging armβAnd converting to generate a discharge arm swing angle output signal betaout(ii) a Through unloading arm pivot angle signal processing module DTβDetecting and feeding back, and outputting a signal beta by a swinging angle of a blanking armoutIntroducing a comparison link by a feedback signal beta of the swing angle of a lower charging arm
。
Blanking arm given swing angle signal betaRIn the comparison link
Given by the following logic: if it is not
Assignment of beta1(ii) a If beta is beta1→βRAssignment of value
Comparison link
The transfer function model is as follows: Δ β ═ βR-β。
Operation control link C of discharging armβThe transfer function model is as follows: control signal beta of swing angle of blanking armCPulse width tauβCCalculating the periodic duty ratio tau according to the control trigger pulse unitβC(k+1)＝△β(k)[1-(πnβeRβWβ/(9.8TCβPβ))k]Approximate calculation of where nβeFor unloading arm rotary swing motor MβCalculated number of revolutions of RβFor calculating the arm length, W, of the blanking arm 2.2βCalculating constant, T, for inertia of the blanking arm 2.2CβFor the feeding arm rotary swing motor M obtained by the experimentβStructural constant, PβFor unloading arm rotary swing motor MβCalculated power ofAnd k is the number of cycle times of unit calculation.
Discharging arm swing angle control driving link DrβThe transfer function model is as follows: operation driving signal beta of blanking armDrA, B, C three-phase control trigger pulse beta is separated according to 120 degrees phase angle differenceDrA、βDrB、βDrCCalculating the periodic duty ratio tau per unit of the pulse width of the control trigger pulse per phaseβDr(k+1)＝KββC(k)/nβeApproximate calculation of where KβFor unloading arm rotary swing motor MβThe turning angle proportionality coefficient is obtained by experiment and calculation.
Claims (3)
1. A control system for the swing arm of blanking arm of edge covering device for plate-shaped workpiece is composed of a comparison unit
Operation control link C of discharging armβDr (Dr) control driving link for controlling swing angle of blanking armβFeeding arm inversion trigger module GβInversion execution module A of blanking armβFeeding arm rotary swing motor MβAnd blanking arm swing angle signal processing module DTβThe structure is characterized in that:
blanking arm given swing angle signal betaRComparing the feedback signal beta with the swinging angle feedback signal beta of the blanking arm in the storage of the feedback signal beta in the controller chip U
Comparing to generate a blanking arm rotation angle deviation signal delta beta; a discharging arm operation control link C stored in a controller chip UβCalculating and processing, converting the blanking arm rotation angle deviation signal delta beta into a blanking arm swing angle control signal betaC(ii) a Controlling a driving link Dr through a swinging angle of a discharging arm stored in a controller chip UβAmplifying and blanking arm swing angle control signal betaCBecomes a feeding arm operation driving signal betaDrIn the discharging arm inversion triggering module GβInversion execution module A of blanking armβOf a cascade of links Gβ-AβFeeding arm operation driving signal betaDrTriggeringA PWM three-phase inverter bridge for outputting three-phase driving current to the feeding arm rotary swing motor, namely A-phase driving current i of the feeding arm rotary swing motorβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCFeeding arm rotary swing motor A phase driving current iβAB-phase driving current i of rotary swing motor of blanking armβBAnd C-phase driving current i of discharging arm rotary swing motorβCRotary swing motor M for driving discharging armβAnd converting to generate a discharge arm swing angle output signal betaout(ii) a Through unloading arm pivot angle signal processing module DTβDetecting and feeding back, and outputting a signal beta by a swinging angle of a blanking armoutIntroducing a comparison link by a feedback signal beta of the swing angle of a lower charging arm
Blanking arm given swing angle signal betaRIn the comparison link
Given by the following logic: if beta is beta00→βRAssignment of beta1；β00Placing the material level for the swinging angle of the discharging arm; if beta is beta1→βRAssignment of beta00(ii) a Comparison link
The transfer function model is as follows: Δ β ═ βR-β；
Operation control link C of discharging armβThe transfer function model is as follows: control signal beta of swing angle of blanking armCPulse width tauβCCalculating the periodic duty ratio tau according to the control trigger pulse unitβC(k+1)＝△β(k)[1-(πnβeRβWβ/(9.8TCβPβ))k]Approximate calculation of where nβeFor unloading arm rotary swing motor MβCalculated number of revolutions of RβFor calculating the arm length, W, of the blanking armβCalculating constant, T, for the inertia of the armCβFor the feeding arm rotary swing motor M obtained by the experimentβStructure of the productConstant, PβFor unloading arm rotary swing motor MβK is the number of cycle times of unit calculation;
discharging arm swing angle control driving link DrβThe transfer function model is as follows: operation driving signal beta of blanking armDrA, B, C three-phase control trigger pulse beta is separated according to 120 degrees phase angle differenceDrA、βDrB、βDrCCalculating the periodic duty ratio tau per unit of the pulse width of the control trigger pulse per phaseβDr(k+1)＝KββC(k)/nβeApproximate calculation of where KβFor unloading arm rotary swing motor MβThe turning angle proportionality coefficient is obtained by experiment and calculation.
2. The blanking arm swing arm control system of the plate-shaped workpiece hemming device of claim 1, wherein:
the head end of the blanking arm is provided with a swing arm driving motor rotor and a blanking bearing outer ring, and a blanking arm pipeline cavity is bored; the first section is provided with a pipeline; a blanking pipeline groove is milled in the middle section; the tail end is provided with a blanking telescopic rod and a telescopic motor stator winding; the upper end of the blanking column is assembled with a swing arm driving motor stator and a blanking bearing, and a blanking column pipeline cavity is bored; a blanking column pipeline pore passage is bored in the whole section; the blanking sucker is a flexible material umbrella-shaped mechanism, and the top end of the flexible material umbrella-shaped mechanism is connected with a blanking telescopic rod in a matched manner through a blanking connector; the blanking pipeline groove is dug in the upper top middle section of the blanking arm, the head end of the blanking pipeline groove is communicated with a pipeline channel in the blanking arm, the tail end of the blanking pipeline groove is in curved surface transition with the upper top surface of the blanking arm, and a telescopic cable penetrates from the bottom of the transition surface to a telescopic motor stator winding at the tail end of the blanking arm;
the feeding arm pipeline cavity is bored at the head end of the feeding arm, is an inner core cavity of a swing arm driving motor rotor, is of a horn mouth-shaped structure, and is provided with a large opening upwards and smoothly communicated with a pipeline of the feeding arm; the N pole pieces of the blanking swing arm motor rotor and the S pole pieces of the blanking swing arm motor rotor are fixedly attached to the ring position of the yoke slot of the swing arm drive motor rotor at the head end of the blanking arm one by one at intervals, and the magnetic pole surfaces face downwards; the S pole pieces of the blanking swing arm motor rotor and the N pole pieces of the blanking swing arm motor rotor are fixedly attached to the inner side of a disc slot ring of a swing arm drive motor rotor at the head end of the blanking arm one by one, and the magnetic pole surfaces face downwards; the movable part of the blanking swing arm motor corner sensor is a grating coding structure device, and is pasted along the head side semicircular ring of the circular ring outer ring below the blanking arm bearing outer seat and is in a semicircular arc shape; the outer seat of the blanking arm bearing is a structure that the inner ring line of the inner edge ring surface of the rotor magnet yoke protrudes downwards, and the lower edge inner buckle is used for buckling and sealing the outer ring of the blanking bearing with the outer edge of the upper part of the blanking arm bearing and the side wall between the outer edge and the lower edge inner buckle;
the stator pole shoe of the blanking swing arm motor is a cylinder with a rectangular cross section; each column body is integrated with the disk ring at the root part thereof to form a motor stator magnetic yoke; the whole is formed by stacking high-magnetic-density silicon steel sheets which are formed by shearing and concentric disc rings; the blanking swing arm motor stator winding is sequentially wound on 18 blanking swing arm motor stator pole shoes according to three-phase hexapoles and is connected according to three-phase hexapole directions; the blanking bearing roller is in a circular truncated cone cylinder structure, and a large bottom surface is assembled on the upper part to form a blanking bearing; the static part of the blanking swing arm motor corner sensor is an infrared LED transceiving combined device, corresponds to the movable part of the blanking swing arm motor corner sensor and is arranged at the outer end of the outer ring at the bottom of the blanking column bearing groove ring; the blanking column bearing groove ring is a stepped groove ring structure; the deep ladder groove ring is bored on the outer groove ring and is used for forming loose fit with the outer bearing seat of the blanking arm; the shallow ladder groove ring is bored on the inner groove ring and used for tightly assembling the blanking bearing inner ring; the blanking column pipeline cavity is bored at the upper end of the middle shaft position of the blanking column and is coaxial with the blanking column, is an inner core cavity of a swing arm driving motor rotor and is of a horn-mouth-shaped structure, a large opening is upward and is aligned and communicated with a lower opening of a blanking arm pipeline cavity of a blanking arm, and a small opening is downward and is smoothly connected with the upper end of a blanking column pipeline pore channel;
the stator magnet yoke disc ring is used as a base structure of a blanking swing arm motor stator magnet yoke, is a rectangular diameter section disc ring body, and is integrated with each cylinder of a blanking swing arm motor stator pole shoe to form a motor stator magnet yoke; the swing arm cable is used as a driving wire of the swing arm driving motor and a cable bundle of the corner signal transmission line of the blanking swing arm motor, is separated from the telescopic cable and the blanking signal cable at the upper end of the blanking column pipeline duct and penetrates to the stator wiring end of the swing arm driving motor.
3. The blanking arm swing arm control system of the plate-shaped workpiece hemming device of claim 1, wherein:
b-phase positive drive optocoupler LCBPC-phase positive drive optocoupler LCCPphase-A positive drive optical coupler LCAPB-phase negative drive pull-up resistor RBNC-phase negative drive pull-up resistor RCNA-phase negative drive pull-up resistor RANB-phase negative drive optical coupler LCBNC-phase negative drive optical coupler LCCNAnd A-phase negative drive optical coupler LCANForm a blanking arm inversion trigger module Gβ(ii) a B-phase positive drive optocoupler LCBPOutput end positive electrode and C-phase positive drive optocoupler LCCPThe positive pole of the output end and the A-phase positive drive optical coupler LCAPThe positive electrode of the output end is connected to the positive electrode end E of the system working power supplyPB-phase positive drive optocoupler LCBPOutput end negative electrode and C-phase positive drive optocoupler LCCPOutput end negative electrode and A-phase positive drive optocoupler LCAPThe negative electrodes of the output ends are respectively connected to the positive electrodes of the MOSFET Q of the B-phase switchBPGate of the MOSFET Q of the C-phase switchCPGate of and a-phase switch positive MOSFET QAPA gate electrode of (1); b-phase negative drive pull-up resistor RBNOne end of the C-phase negative drive pull-up resistor RCNOne end of and A phase negative drive pull-up resistor RANOne end of the system working power supply positive terminal EPB-phase negative drive pull-up resistor RBNThe other end of the resistor R is connected with a C-phase negative drive pull-up resistor RCNThe other end of the A phase negative drive pull-up resistor RANThe other ends of the two optical couplers are respectively connected to a B-phase negative driving optical coupler LCBNOutput end positive pole, C phase negative drive optical coupler LCCNOutput end positive pole and A phase negative drive optical coupler LCANOutput end positive pole, B phase negative drive optical coupler LCBNOutput end negative pole, C phase negative drive optical coupler LCCNOutput end cathode and A-phase negative drive optical coupler LCANThe negative poles of the output ends of the two phase-B switch are respectively connected with the negative pole MOSFET Q of the phase-B switchBNGrid, C-phase switch cathode MOSFET QCNGate of and a-phase switch cathode MOSFET QANA gate electrode of (1);
a-phase switch anode MOSFET QAPB-phase switch anode MOSFET QBPPositive MOSFET Q of C-phase switchCPPhase A switchNegative electrode MOSFET QANB-phase switch cathode MOSFET QBNC-phase switch cathode MOSFET QCNForm a blanking arm inversion execution module Aβ(ii) a A-phase switch anode MOSFET QAPDrain electrode of (1), C-phase switch anode MOSFET QCPDrain of and B-phase switch anode MOSFET QBPAll the drain electrodes are connected to the positive terminal E of the system working power supplyPPositive pole MOSFET Q of phase A switchAPSource electrode, positive electrode MOSFET Q of C-phase switchCPSource and B-phase switch positive MOSFET QBPAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBThe head end of (2); a-phase switch cathode MOSFET QANDrain electrode of the MOSFET Q, and C-phase switch cathodeCNDrain of and B-phase switch cathode MOSFET QBNAre respectively connected to the A-phase winding WAHead end, C phase winding WCHead end of and B-phase winding WBHead end of, A phase switch cathode MOSFET QANSource electrode, C phase switch cathode MOSFET QCNSource and B-phase switch cathode MOSFET QBNAre all connected to the negative terminal E of the system working power supplyN；
A phase winding WAPhase B winding WBAnd a C-phase winding WCFor unloading arm rotary swing motor MβThe stator three-phase winding is a stator winding of the blanking swing arm motor; a phase winding WATail end, C phase winding W ofCTail end of and a B-phase winding WBThe tail end of the connecting rod is connected with a point; the static part of the blanking swing arm motor corner sensor is arranged corresponding to the dynamic part of the blanking swing arm motor corner sensor to obtain a corner pulse signal;
two-stage forward-connected phase inverter forming blanking arm swing angle signal processing module DTβ(ii) a The output end of the last-stage phase inverter is used as a feeding arm swing angle feedback signal wiring end PβThe input end of the most front-stage inverter is connected to the signal output end of the static part of the blanking swing arm motor corner sensor; the positive power supply end and the grounding end of the static part of the blanking swing arm motor corner sensor are respectively connected to the positive end E and the ground of a system control circuit power supply; the positive electrode power supply end of the phase inverter chip is connected to the positive electrode end of the system control circuit power supplyAnd E, grounding the negative electrode power source end of the phase inverter chip.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176471A (en) * | 2014-08-07 | 2014-12-03 | 山东大学 | Cantilever type automatic loading and unloading device and method for stone plate |
| CN104385686A (en) * | 2014-12-09 | 2015-03-04 | 东莞市铭丰包装品制造有限公司 | Covering machine |
| CN207359663U (en) * | 2017-10-30 | 2018-05-15 | 广州市科腾智能装备股份有限公司 | A kind of edge covering mechanism |
| CN207775550U (en) * | 2017-12-25 | 2018-08-28 | 佛山市南海区永正制鞋机械设备有限公司 | Glue Wrapping apparatus |
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2018
- 2018-11-02 CN CN201811301362.9A patent/CN109849348B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176471A (en) * | 2014-08-07 | 2014-12-03 | 山东大学 | Cantilever type automatic loading and unloading device and method for stone plate |
| CN104385686A (en) * | 2014-12-09 | 2015-03-04 | 东莞市铭丰包装品制造有限公司 | Covering machine |
| CN207359663U (en) * | 2017-10-30 | 2018-05-15 | 广州市科腾智能装备股份有限公司 | A kind of edge covering mechanism |
| CN207775550U (en) * | 2017-12-25 | 2018-08-28 | 佛山市南海区永正制鞋机械设备有限公司 | Glue Wrapping apparatus |
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